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Copter: auto_armed goes false for Heli when landed and motor shut off.

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Robert Lefebvre 2015-06-10 18:33:42 -04:00 committed by Randy Mackay
parent 3da78052a1
commit ef80634435
1 changed files with 7 additions and 0 deletions
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7
ArduCopter/system.cpp
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@ -369,6 +369,13 @@ void Copter::update_auto_armed()
if(mode_has_manual_throttle(control_mode) && ap.throttle_zero && !failsafe.radio) { if(mode_has_manual_throttle(control_mode) && ap.throttle_zero && !failsafe.radio) {
set_auto_armed(false); set_auto_armed(false);
} }
#if FRAME_CONFIG == HELI_FRAME
// if helicopters are on the ground, and the motor is switched off, auto-armed should be false
// so that rotor runup is checked again before attempting to take-off
if(ap.land_complete && !motors.rotor_runup_complete()) {
set_auto_armed(false);
}
#endif // HELI_FRAME
}else{ }else{
// arm checks // arm checks